// Copyright 2019 ETH Zürich, Thomas Schöps
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
//    this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its contributors
//    may be used to endorse or promote products derived from this software
//    without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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#include "badslam/cuda_depth_processing.h"

#include <cuda_runtime.h>

namespace vis {

void ComputeMinMaxDepthCUDA_InitializeBuffers(
    CUDABufferPtr<float>* init_buffer,
    CUDABufferPtr<float>* result_buffer) {
  result_buffer->reset(new CUDABuffer<float>(1, 2));
  init_buffer->reset(new CUDABuffer<float>(1, 2));
  
  float initialization[2] = {numeric_limits<float>::infinity(), 0};
  (*init_buffer)->UploadAsync(/*stream*/ 0, initialization);
  cudaStreamSynchronize(/*stream*/ 0);
}

}
